UAV 2-D Track Smoothing Method Base on Non-uniform B-spline Interpolation

摘要

The initial UAV tracks produced by intelligent optimization algorithm cannot meet the requirements of UAV flight performance. So smoothing the UAV tracks is necessary. This paper adopts a method of non-uniform B-spline curve interpolation to solve this problem. Firstly, the paper analyses and discusses the research methods of track smoothing carried on recently. Then considering B-spline basis function and B-spline curve properties and making use of the problem of uneven parameters distribution for the flight track-smoothing, this paper proposes the flow-chart of non-uniform B-spline interpolation method and then simulated by Matlab language to verify the performance of the proved algorithm. The simulation results show that the smoothing track has many advantages, such as natural transition, no heading mutation, and not through the danger zone. This method achieves to preserve the convexity of the curve and passes all the track nodes, which make the smoothing track approximate with the original one. In addition, the fuel costs and the threat costs do not change dramatically. This method meets the flight performance requirements of UAV.